1 files changed, 85 insertions, 2 deletions

diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
index 7c33ac24e05..f26e72105ba 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
@@ -41,7 +41,8 @@ enum btHingeFlags
 {
 	BT_HINGE_FLAGS_CFM_STOP = 1,
 	BT_HINGE_FLAGS_ERP_STOP = 2,
-	BT_HINGE_FLAGS_CFM_NORM = 4
+	BT_HINGE_FLAGS_CFM_NORM = 4,
+	BT_HINGE_FLAGS_ERP_NORM = 8
 };
 
 
@@ -94,6 +95,7 @@ public:
 
 	int			m_flags;
 	btScalar	m_normalCFM;
+	btScalar	m_normalERP;
 	btScalar	m_stopCFM;
 	btScalar	m_stopERP;
 
@@ -175,6 +177,7 @@ public:
 	//       maintain a given angular target.
 	void enableMotor(bool enableMotor) 	{ m_enableAngularMotor = enableMotor; }
 	void setMaxMotorImpulse(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; }
+	void setMotorTargetVelocity(btScalar motorTargetVelocity) { m_motorTargetVelocity = motorTargetVelocity; }
 	void setMotorTarget(const btQuaternion& qAinB, btScalar dt); // qAinB is rotation of body A wrt body B.
 	void setMotorTarget(btScalar targetAngle, btScalar dt);
 
@@ -191,6 +194,33 @@ public:
 		m_relaxationFactor = _relaxationFactor;
 #endif
 	}
+	
+	btScalar getLimitSoftness() const
+	{
+#ifdef	_BT_USE_CENTER_LIMIT_
+		return m_limit.getSoftness();
+#else
+		return m_limitSoftness;
+#endif
+	}
+
+	btScalar getLimitBiasFactor() const
+	{
+#ifdef	_BT_USE_CENTER_LIMIT_
+		return m_limit.getBiasFactor();
+#else
+		return m_biasFactor;
+#endif
+	}
+
+	btScalar getLimitRelaxationFactor() const
+	{
+#ifdef	_BT_USE_CENTER_LIMIT_
+		return m_limit.getRelaxationFactor();
+#else
+		return m_relaxationFactor;
+#endif
+	}
 
 	void	setAxis(btVector3& axisInA)
 	{
@@ -217,6 +247,14 @@ public:
 
 	}
 
+    bool hasLimit() const {
+#ifdef  _BT_USE_CENTER_LIMIT_
+        return m_limit.getHalfRange() > 0;
+#else
+        return m_lowerLimit <= m_upperLimit;
+#endif
+    }
+
 	btScalar	getLowerLimit() const
 	{
 #ifdef	_BT_USE_CENTER_LIMIT_
@@ -236,6 +274,7 @@ public:
 	}
 
 
+	///The getHingeAngle gives the hinge angle in range [-PI,PI]
 	btScalar getHingeAngle();
 
 	btScalar getHingeAngle(const btTransform& transA,const btTransform& transB);
@@ -286,13 +325,20 @@ public:
 	// access for UseFrameOffset
 	bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; }
 	void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
-
+	// access for UseReferenceFrameA
+	bool getUseReferenceFrameA() const { return m_useReferenceFrameA; }
+	void setUseReferenceFrameA(bool useReferenceFrameA) { m_useReferenceFrameA = useReferenceFrameA; }
 
 	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
 	///If no axis is provided, it uses the default axis for this constraint.
 	virtual	void	setParam(int num, btScalar value, int axis = -1);
 	///return the local value of parameter
 	virtual	btScalar getParam(int num, int axis = -1) const;
+	
+	virtual	int getFlags() const
+	{
+  	    return m_flags;
+	}
 
 	virtual	int	calculateSerializeBufferSize() const;
 
@@ -326,6 +372,43 @@ struct	btHingeConstraintDoubleData
 };
 #endif //BT_BACKWARDS_COMPATIBLE_SERIALIZATION
 
+///The getAccumulatedHingeAngle returns the accumulated hinge angle, taking rotation across the -PI/PI boundary into account
+ATTRIBUTE_ALIGNED16(class) btHingeAccumulatedAngleConstraint : public btHingeConstraint
+{
+protected:
+	btScalar	m_accumulatedAngle;
+public:
+
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
+	btHingeAccumulatedAngleConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB, const btVector3& axisInA,const btVector3& axisInB, bool useReferenceFrameA = false)
+	:btHingeConstraint(rbA,rbB,pivotInA,pivotInB, axisInA,axisInB, useReferenceFrameA )
+	{
+		m_accumulatedAngle=getHingeAngle();
+	}
+
+	btHingeAccumulatedAngleConstraint(btRigidBody& rbA,const btVector3& pivotInA,const btVector3& axisInA, bool useReferenceFrameA = false)
+	:btHingeConstraint(rbA,pivotInA,axisInA, useReferenceFrameA)
+	{
+		m_accumulatedAngle=getHingeAngle();
+	}
+	
+	btHingeAccumulatedAngleConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA = false)
+	:btHingeConstraint(rbA,rbB, rbAFrame, rbBFrame, useReferenceFrameA )
+	{
+		m_accumulatedAngle=getHingeAngle();
+	}
+
+	btHingeAccumulatedAngleConstraint(btRigidBody& rbA,const btTransform& rbAFrame, bool useReferenceFrameA = false)
+	:btHingeConstraint(rbA,rbAFrame, useReferenceFrameA )
+	{
+		m_accumulatedAngle=getHingeAngle();
+	}
+	btScalar getAccumulatedHingeAngle();
+	void	setAccumulatedHingeAngle(btScalar accAngle);
+	virtual void getInfo1 (btConstraintInfo1* info);
+
+};
 
 struct	btHingeConstraintFloatData
 {